Can global variables and hub variables be viewed and changed on a dashboard without using a variable connector?
Yes. No connector required.
FYI, AFAIK, Hub Variables are the global variables.
Global variables were a Rule Machine 4 feature that were replaced with hub variables in Rule 5.x (and are now available to any app). For true global variables, you'd need a conector. As you note, hub variables can be used directly--both on Dashboard and in an increasingly large number of apps (though some may still require a connector or not work with some types of variables at all).
It bears noting that direct manual entry appears to be the only method currently offered in Dashboard for changing variable values. Talk about an accidental waiting to happen! Truly need some increment/decrement, true/false, radio button, etc., type controls in DB.